摘要
针对连杆与机架在初始位形平行时的直线导引机构综合问题,基于瞬时运动几何理论,考虑机构常规性能和稳健性能,提出一种该类机构的综合方法.在给定欲逼近理想直线的鲍尔点及其方向角和机架一个定铰点的条件下,建立连杆与机架平行位形时的机构综合模型,该模型可综合得到无穷多满足位形要求的直线导引机构.通过对机构常规性能施加约束得到可行解域,为判断可行解域内机构是否满足稳健性能要求,建立直线导引机构稳健模型,提出机构稳健性能的质量特性指标,依据质量特性指标筛选出稳健机构得到可行稳健解域.设计者可精确快捷的在可行稳健解域内寻找到满足机构常规性能要求与稳健性能要求的最优稳健机构解.通过机构综合示例验证了该方法的可行性和有效性.
Abstract
Based on the theory of instantaneous motion geometry,a synthesis method which considers the conventional performance and robust performance of the mechanism for straight-line guidance mechanism when the link is parallel to the frame is proposed.Given a ball point and a fixed pivot,the mechanism syn-thesis model which can synthesize an infinite number of straight-line guidance mechanism is established.A robust model of straight-line guidance mechanism is established to judge whether the mechanisms in the feasible solution region satisfy the requirements of robust performance.The robust mechanism is selected to obtain the feasible robust solution region in accordance with the quality characteristic index.The designer can find the optimal robust mechanism solution which can satisfy the requirements of conventional and ro-bust performance in the feasible robust solution region promptly.The correctness and effectiveness are veri-fied by synthesis example.
维普
万方数据